For state estimation,
we use the triggering scheme described in [1]}, which is based on the KF innovation. Recall that the trigger, \(\gamma _k\) , depends on the triggering threshold \(\delta _k\) , and that \(\gamma _k = 1\)  indicates that measurement \(y_k\)  is sent, and \(\gamma _k=0\)  otherwise. According to the MMSE estimator in [1]}, the estimate of the state is Gaussian with a priori update:
\(\hat{x}_k^- = A \hat{x}_{k-1} + B u_k, \quad \Sigma _k^- = A \Sigma _{k-1} A^T + Q,\) 
